If you are most concerned about code size and/or performance (also for WCET analysis, if you need one), I think this is probably going to be one of the more transparent solutions (for finding and removing elements):
unsigned int l=0, removed=0;
for( unsigned int i=0; i<count; i++ ) {
if( array[i] != to_remove )
array[l++] = array[i];
else
removed++;
}
count -= removed;